基于模糊动态模型的二级倒立摆系统的分析和设计

摘要

首先给出了一种离散系统模糊动态模型的辨识方法，提出了一个衡量聚类有效性的函数，以确定模糊规则的数目.并给出一个保证模糊系统全局稳定的充分条件，在此基础上给出了模糊控制系统的设计方法，并对二级倒立摆系统进行了控制，取得了较好的效果.%Firstly, a method of fuzzy dynamic model identification for discretetime system is proposed. A function for measuring clustering validity is defined with which the number of fuzzy rules can be determined. A sufficient criterion that guarantees the global stability of the fuzzy system is presented. Based on this, we develop a design way of the fuzzy control system. This method is proved to have better effect through a double inverted pendulum by experiments.